For sampled dynamical systems the delta-operator is an appealing alternative to the conventional shift operator since at rapid sampling rates it shows better numerical properties and a closer rapprochement to the continuous-time description. Thus, the structural information is easy to interpret in models and designs based on the delta-operator. The GPC controller is interesting since it is a controller that successfully has been applied to many industrial process during the last decade. The present paper discusses an emulator-based GPC, a controller design intended for fast sampled adaptive control systems where the conventional q-based techniques fail due to poor word-length characteristics.
System and Control Letters, 1996, Vol 28, Issue 5, p. 291-301